►
Description
A presentation by the Telecom Special Interest Group on June 29, 2023 featuring Salma Salimi, Researcher at University of Turku, speaking about the integration of Hyperledger Fabric and ROS2 for distributed robotic systems. This presentation will explain how blockchain technology can be integrated with advanced robotics to enable trustable data sharing and robot control. Examine real-world examples of scalable, collaborative, and reliable robotic systems and discover their potential in industries.
If you're interested in how blockchain is being used in Telecom, join the Telecom Special Interest Group at: https://wiki.hyperledger.org/display/TCSIG/
You're welcome to join the group's mailing list and introduce yourself and take part in discussions: https://lists.hyperledger.org/g/telecom-sig
----
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License
Creative Commons Attribution license (reuse allowed)
B
A
That's
your
life
yeah,
okay,
so
hello,
everyone,
I'm
Salma,
and
thank
you
for
inviting
me
to
present.
Okay.
Thank
you
for
inviting
me
for
this
presentation
to
present
our
research
group
and
I'm,
going
to
talk
about
the
integration
of
hyperledger
fabric
and
Ross
Stu
for
distributed,
robotic
systems
and
some
results
of
our
real
world
experiments
in
our
lab.
A
A
I
know
you
know,
but
I'm
gonna
give
some
introduction
about
the
fabric.
Also,
as
you
know,
hyperledger
is
one
of
the
biggest
Platforms
in
the
permission
blockchains,
and
it
is
a
open
source
project
based
on
Linux
Foundation.
It
provides
projects
and
Frameworks
to
businesses
and
developers
to
build
the
blockchain
networks
and
applications
and
its
aims
to
ease
the
collaboration
between
developers,
Enterprises
and
businesses
in
the
field
of
distributed
Ledger
technology
and
as
the
advantages
it
offers
a
robust
set
of
features
that
makes
it
suitable
for
integrating
blockchain
into
distributed,
robotic
systems.
A
But
if
I
want
to
talk
about
the
robotic
side,
I'm
going
to
talk
about
the
Ross,
which
is
basically
it's
going
to
be
the
main
talk
to
date
and
what
is
loss
before
the
introduction
of
Ross
robotics
development
was
often
lacked.
A
standardized
framework
developers
had
to
build
their
own
custom
solutions
for
communication,
coordination
and
integration
of
robots
components,
leading
lots
of
efforts
and
collaboration
among
researchers
and
sharing
the
codes
and
resources
were
challenging.
The
absence
of
unified
platform
made
it
harder
to
prototype
test
and
deploy
robot
applications,
increasing
development,
time
and
complexity.
A
Revolutionized
robotics
by
providing
a
common
framework,
Australian
collaboration,
promoting
modularity
and
simplifying
the
development
process,
accelerating
the
advancement
in
the
field
first
Ross,
developed
Ross
is
also
known
as
Ross
one.
It
was
initially
released
in
2007
and
has
since
become
widely
adopted
in
the
robotics
Community.
It
provides
flexible
and
modular
framework
for
developing
robot
software.
It
allows
developers
to
break
down
complex
robot
applications
into
smaller,
reusable
components,
called
packages
promoting
code,
modularity
and
reusability.
A
It
uses,
publish
And,
subscribe
messages
system,
which
we
call
them
topic
to
enable
communication
between
different
components
of
the
robotic
systems,
and
it
was
primarily
supports.
It
primarily
supports
single
host
systems
and
is
mainly
used
for
research
and
prototyping
applications.
It
has
a
large
ecosystem
of
packages
and
tools
developed
by
the
community
and
making
it
easier
to
leverage
existing
functionality
and
collaborate
with
others.
A
If
you
see
I
put
an
example
of
how
was
one
works
and
how
robots
can
communicate
with
each
other
in
the
presence
of
rust
Master,
we
can
have
publisher,
know
the
subscriber
node
when
the
where
the
data
can
be
transferred
through
the
last
topic,
so
that
multiple
robots
can
easily
communicate
with
each
other
and
transfer
the
message
between
each
other.
Here
you
can
see
the
Ross
communication
where,
for
example,
it
is
an
example.
Camera
can
be
as
a
node
which
publishes
its
data
on
a
topic.
A
We
can
also
have
a
node
for
processing
the
camera
data
and
one
node
for,
for
example,
recording
the
data
and
processing
node
can
subscribe
to
the
camera
topic
and
publish
it
and
publish
its
processing
results
on
another
topic
and,
on
the
other
hand,
the
recording
node
can
subscribe
to
these
topics
and
record
record
all
the
data
receives
from
the
camera,
node
and
processing
node,
but
Ross
one
has
also
limitations.
It
doesn't
provide
native
support
for
real-time
systems
or
safety.
A
Critical
applications
package
developed
for
one
specific
rust
distribution
may
not
always
be
fully
compatible
or
work
seamlessly
with
other
raster
distributions.
So
sometimes
we
need
to
change
the
whole
codes
and
call
codes
for
other
distributions.
It
was
primarily
written
in
Python
2,
which
has
become
an
outdated
version
of
the
language
and
also
it
was
designed
for
research
and
development
purposes.
Rather
than
for
deployment
and
security,
sensitive
and
security,
sensitive
environments,
it
lacks
of
native
support
for
external
networking
and
distributed
system.
A
It
was
designed
for
single
host
systems
and
communication
between
Ross
notes
was
primarily
intended
for
local
machine
communication.
With
the
presence
of
these
limitations.
Russell
emerged.
Rostu
is
a
modern
framework
for
building
robot
applications.
It
improves
open,
plus
one
with
enhanced
performance,
scalability
and
support
for
real-time
and
safety.
Critical
systems
promotes
code,
reusability,
collaboration
and
interoperability,
making
it
easier
to
develop
Advanced
robot
applications
with
the
distributed
architecture
of
ros2.
A
Here,
if
you
can
see,
basically,
topics
in
roster
are
transferred
in
this
way
where
we
can
have
multiple
publisher
and
subscriber
nodes.
The
biggest
change
that
came
with
ros2
was
the
selection
of
the
DDS
middleware
for
the
communication
layer,
which
has
a
strength
strengths.
The
communication
between
robot
components,
with
its
decentralized
public
subscribe
architecture,
and
we
don't
need
any
rust
master
in
a
roster.
A
Ross
includes
mature,
open
source
libraries
to
be
used
for
navigation,
functional
motion,
planning,
vision
and
simulation
purposes.
The
3D
visualization
tool,
like
RVS
named
RVs
and
the
simulation
through
gazebo
are
seen
as
useful
tool
for
robot
developers
and
also
apart
from
this
opencv
libraries,
libraries
for
detection
purposes
in
ros2,
which
we
have
also
used
in
our
scenarios.
A
Now,
let's
move
to
some
of
the
real
world
examples
and
some
scenarios
that
we
had
regarding
integrating
roster
and
fabric.
Over
the
past
two
years,
we've
been
working
on
integrating
fabric
with
Ross
through
using
both
go
language
golang
and
more
recently,
with
node.js
for
roster
Louisville
score
and
node.js
client
libraries
are
Community,
packed
as
the
main
supported
language
are
Python
and
C,
plus
plus.
A
So
if
I
want
to
talk
about
our
first
scenario,
real
world
example,
a
hyperledger
fabric,
DLT
network
is
interfaced
with
rustool
for
managing
autonomous
robotics
leads.
In
this
scenario,
we
introduced
the
framework
for
integrating
roster
with
a
hyperledger
fabric
for
distributed,
robotic
systems
and
also
analyze
the
impact
of
integrating
Topic
in
robotic
systems
with
the
performance
and
scalability
study
and
experimental
proof
of
the
purpose
framework
for
an
inventory
management
application
with
ground
and
aerial
robots
foreign
here
this
diagram
shows
the
framework
architecture
and
key
components.
A
The
fabric
network
is
hosted
in
a
cloud
with
a
go-based
web
interface
for
visualizing.
The
roster
data
stored
in
the
different
channels
and
command
interface
for
inputting
user
instructions.
Fabric
is
hosted
by
a
set
of
organizations,
contain
peers
certificate
authorities
to
verify
their
membership
in
network.
Existing
of
the
private
data
channel
is
one
of
the
key
components
differentiated
fabric
from
other
blockchain
Solutions.
Here
in
this
framework,
robots
are
members
of
the
fabric
Network
and
also
shared
roster
Network.
A
If
I
Wanna
Give
a
algorithm
example
of
an
application
for
such
purpose,
you
can
see
these
algorithm
another
benefit
of
DLT,
in
addition
to
their
mutable
and
auditable
records,
as
you,
as
you
know,
in
their
built-in
security
features
and
identity
management,
which
can
be
exploits,
for
instance,
in
in
interfaces
for
users
for
control,
either
individual
robots
or
fleets.
Any
collaborative
decision
making
process
can
be
implemented
through
smart
contracts,
which
we
are
basically
using
to
ensure
that
all
robots
obtain
the
same
result.
This
is
applicable
to
roll
allocation
or
a
resource
distributed
problems.
A
For
the
experimental
part
of
our
scenario,
you
can
see
the
implementation
diagram
of
the
different
software
models
running
in
different
nodes.
Here
we
have
used
the
ground,
robots,
AI
dashboard
platform
and
the
UA
UAV
X500
quadruple
frame,
embedded
with
pixhawk
5x
flight
controller
running
with
the
PX4
parameter
for
this
experiment.
A
We
use
six
optitrack
cameras
for
navigation
and
the
robots
in
our
Arena
robots
were
running
rosic
under
ubuntuity,
but
the
localization
and
object
detection
were
all
running
in
Rust
to
proxy
and
we
have
used
cross
one
bridge
to
forward
data
from
ninetic
to
Foxy,
from
restaurant
to
roster
fabric
applications
were
running
onboard.
The
robots
that
connect
to
the
peers
running
on
the
separate
computer
in
the
network,
with
the
same
Intel
price,
7
processor,
and
for
the
object
detections
we
use
your
locks
and
fabric
has
been
brought
up
for
secure
data
management
and
robot
control.
A
The
computer
is
running
in
the
order
and
the
peers
know
via
Wi-Fi,
and
here
you
can
see
the
distribution
of
latency
without
the
main
four
settings,
the
data
from
15
seconds
it's
accumulated
and
over
200
Hertz
of
Ross
to
data
being
pushed
into
the
smart
contracts.
We
were
trying
to
try
this
with
different
batch
timeouts
and
maximum
message
to
see
the
difference.
Latencies.
A
Also,
as
a
second
scenario
you
can
see
here,
the
blockchain
is
used
for
high-level
Mission
commands,
predefined
robot
paths
for
triggering
multi-robot
Cooperative
actions
based
on
chain
recorded
robot
States
like
docking
and
Landing,
the
Drone
and
switching
operation
modes
for
active
and
deactivating.
The
ultra
wideband
Takens
detected
objects
are
also
stored
in
a
blockchain
with
the
ultravytan
I
need
to
give
an
introduction
about
that.
Also.
What
is
it
ultrawide
and
Technology.
C
A
As
a
robust
solution
for
localization
and
robotic
systems,
especially
for
gnss
denied
environments,
it
can
provide
centimeter
levels
of
accuracy
at
low
cost.
It
also
has
the
advantage
that
it
doesn't
depend
on
environmental
conditions
such
as
light,
or
there
is
any
dust
like
what
would
happen
with
the
cameras
and
lighters.
It
is
also
more
accurate
than
Wi-Fi
or
Bluetooth
and
less
prone
to
inter
interferences.
A
Here
you
can
see.
Ultra
wideband
is
a
radio
frequency
technology
that
is
used
for
indoor
localization,
since
these
devices
are
more
affordable
than
other
indoor
localization
Solutions,
like
Optical
cameras
that
we
use
for
previous
scenarios
is
attracting
increasing
attention.
Anchors
and
tags
are
two
types
of
nodes
used
in
ultrawideband
localization
to
obtain
depositions
of
the
tasks
in
most
anchor
based
scenarios.
The
locations
of
the
anchors
must
be
known.
A
A
We,
we
utilize
the
fabric,
smart
contract
for
locking
historical
data
and
collaborating
collaborative
decision
making
for
landing,
and
we
also
utilize
Ultra
Wi-Fi
localization
for
following
predefined
trajectory,
while
the
docking
smart
contract
triggers
the
activation
of
the
anchors
in
the
ground,
robot
for
more
accurate
relative
localization,
while
docking
the
experimental
platform
of
this
scenario
is
consists
of
the
commercially
Telo
MAV
and
and
ground
robot.
As
you
can
see,
the
Drone
is
equipped
with
the
ultra
wideband
module
for
localization.
A
We
also
utilize
the
drone
camera
for
object
detections
with
the
camera
of
it
being
available.
So
it
helps
to
get
connected
to
a
controller
computer.
The
ground
robots,
the
AI
dashco,
is
equipped
with
the
sensors
and
camera
and
also
VL
sense,
t265
real
sense
camera.
For
the
ego
motion
estimation
for
this
experiments,
we
have
four
Ultra
wide
band
nodes
modules
with
custom
firmware.
They
have
been
deployed
for
robot
localization
and
also
we
have
five
extra
Ultra
icon
nodes,
which
has
been
used
on
the
dashboard
platform
for
more
accurate
docking
of
the
Tello.
A
So,
on
the
software
side,
the
dashco
robot
runs
Ross
melodic
under
2020
and
the
main
driver,
localization
and
object.
Detections
are
all
running
in
ros2,
a
fabric
application
running
on
board.
The
robots
are
connected
to
peers,
running
on
a
separate,
Computer
and
Network
to
forward
the
data
we
have
used
Bridge
like
previous
one,
and
to
obtain
the
camera
image
of
the
dashboard
at
a
frequency
of
30
Hertz,
even
though
they
are
forwarded
to
the
object
detectors
at
5
Hertz.
A
A
One
application
containing
different
functions
such
as
creating
assets
and
read,
and
updating
and
changing
the
assets
has
been
used
for
each
robot.
Also,
this
figure
shows
the
trajectories
of
the
robots
during
the
experiments
and
towards
the
mission
ends
as
it
can
be
seen
after
more
than
three
minutes.
A
So
the
idea
is
that
both
Tello
and
dash
will
start
to
explore
them
in
place
and
whenever
they
are
exploring,
whenever
the
battery
level
of
the
cello
goes
beyond
the
threshold
and
the
docking
command
is
sent
to
dashco
and
Tello,
so
they
both
go
to
the
landing
position
and
while
they
will
arrive
to
that
position,
their
anchors
on
the
dashboard
activates.
So
the
teller
use
those
ultra
white
and
anchors
on
the
dashboard
to
land.
So
we
have
more
accurate
Landing.
A
So
this
is
another
scenario
with
the
same
idea,
but
using
the
fabric,
smart
contracts
as
running
the
role
allocation
to
determine
the
corresponding
roles
for
each
node
shown
there.
We
have
four
Ultra
wide
band
localization
of
the
system
we
use
both
timerflies
and
tvoa,
to
minimize
the
disadvantages
and
the
hyperledger
fabric
aims
to
secure
data
management
and
robot
control.
The
implementation
has
two
smart
contracts:
one
contract
to
store
the
past
history
of
six
mobile
Ultra,
White
Band
nodes
and
the
second
one
that
implements
the
role
allocation
algorithm
and
saves
the
rules
in
the
network.
A
One
way
was
in
last
one
python.
Node
one
way
was
in
plus
two
with
rcl4
online
and
another
way
was
in
fabric
a
smart
contract
in
golang,
with
the
aim
of
comparing
the
performances
later
on.
All
three
methods
are
implemented
with
the
frequency
of
five
Hertz
and
after
comparing
these
different
methods,
we
analyze
the
impact
of
the
integrating
paper,
Ledger
smart
contracts
for
the
Royal
allocation,
also
and
as
a
distributed
and
Cooperative
decision-making
process
rust
to
go.
Implementation
is
naturally
faster
than
the.
A
Ross
one
python
mode,
however,
both
implementations
are
fast
enough
for
meeting
the
frequency
defined
for
a
roller
location.
The
addition
of
hyperledger
fabric
interface
to
the
Baseline
goal,
implementation
increments,
its
latency.
However,
it
Still
Remains
fast
enough
to
meet
the
five
Hertz
requirement
for
the
system
and,
as
the
last
scenario
that
we
have
recently
worked
on
a
hyperledger
fabric,
Network
rigid
robots
with
the
remote
and
operation
application,
their
fabric
network
is
able
to
transport
data
with
low
latencies
in
the
range
of
hundreds
of
milliseconds.
A
Real-Time
data
stream
can
be
confirmed
so
hashes
in
the
blockchain.
The
fabric
Network
allows
for
control
access
management
and
auditability
of
them
teleporation,
so
we
proposed
a
fabric
as
Bridging
the
interfacing
roster
system,
so
using
the
fabric
as
a
bridge
with
Russia
system
through
an
event-based
design
and
parameterizable
data
transport
setting
and
also
we
introduced
the
design,
implementation
and
evaluation
of
proof
of
concept
for
near
real-time,
robot
teleporation
through
Fabrics,
from
single
to
multi
robot
systems.
A
Comparing
to
previous
experiments
and
scenarios,
these
experiments
is
toward
near
real
turning
green
retail
operation
and
control.
It's
more
lightweight
and
computationally
efficient
fabric
was
to
Bridge
and
we
reported
from
go
to
node.js.
So,
despite
a
goal
which
required
The
predefined,
Vessel
message,
node.js
doesn't
require
this
and
it's
in
general,
it's
a
more
generalizable
and
performance
fabric
plus
2
interface,.
A
So
this
is
a
system,
architecture,
overview
and
illustration
of
the
rust
to
learn
fabric
blockchain
interfaces.
The
fabric
Network
effectively
acts
as
a
data
transport
layer
between
individual
roster
subsystems.
A
fabric
network
is
optimized
for
cross-organizational
data
exchange
and
secure
temper
proof.
Data
storage
and
sharing
event-driven
architecture
is
the
key
feature
of
this
paper.
A
Research,
where
ross2
fabric
applications
execute
callbacks
from
both
the
Ross
and
fabric
networks,
their
interfacing
last
two
events.
Events
occur
whenever,
for
example,
new
message
arrives
or
new
message
are
published
to
a
given
topic.
This
approach
significantly
reduces
data
transport
latency
at
high
network
capacity
and
as
a
hardware
setup,
we
utilize
for
this
experiment
to
be
utilize:
the
DJI
teledron
and
also
the
mockup
system
there
and
above
eight
to
nine
to
five
meters
for
the
localization.
A
So
here
you
can
see
the
software
architecture.
The
system
was
implemented
based
on
the
roster
Galactic
framework
on
Ubuntu
20
and
robot
control
and
localization
were
running
in
host.
One
data
from
opti-track
mock-up
system
camera
is
received
with
the
vrp
and
client
was
node
and
used
for
accurate
position
and
attitude
of
the
robot
and
the
tele
operation
application
and
the
basic
motion
controller
we're
running
in
host
2.
A
two
fabric
applications
are
then
deployed
in
each
house
to
interface
with
the
roster
system,
and
the
latency
is
also
calculated
since
odometry
message
is
generated
in
one
host
until
the
matching
velocity
control
message
for
controlling
the
fellow
to
go
to
the
predefined
path
arise
from
another
host,
including
both
the
physical
Network
and
the
fabric.
Network
latencies,
which
you
can
see,
is
more
or
less
around
0.5
milliseconds
and.
A
As
a
conclusion,
we
leverage
blockchain
technology
for
multi-robot
systems
in
various
industrial
applications
for
purpose
of
identity
management,
data,
sharing
security,
monitoring
and
multi-robot
inventory
management
and
processes.
We
showed
that
using
upper
Ledger
Fabric
in
robotic
systems
provides
a
significant
amount
of
built-in
security
while
having
a
minimal
impact
on
the
utilization
of
the
computational
resources
and
in
overall,
the
integration
of
hyperledger
fabric
and
Ross
to
impoverished,
distributed,
robotic
systems
with
enhanced
capabilities
and
trustworthiness.
A
B
Thanks
so
thanks
Salma
and
participants
can
ask
questions
directly
or
or
they
can
write
in
the
chat.
So
we
have
some
questions
Alma
in
the
chat.
So
our
first
question
is
about
leader
and
Machine.
Vision
can
be
used
to
complement
each
other.
Is
there
any
good
news
with
ros2
r
d
to
merge
the
two
technologies.
A
Basically,
I
haven't
worked
on
lidars
and
Machine
Vision,
so
maybe
I
I
cannot
help
you
with
that,
but
we
I
haven't
worked
with
that.
So
I
cannot
say
exactly,
but
I
can
search
and
I
can
I
can
reply
you
later
I
can
ask,
because
some
of
our
colleagues
are
specifically
working
on
lidars
and
we
have
other
colleagues
working
on
machine
machine
learning
and
Visions
aside.
So
I
can
ask
them
and
later
answer
your
question.
C
B
B
A
Basically,
my
colleague
is
working
on
ultravy
time,
but
the
main
usage
that
I
have
used
for
all
these
experiments
is
only
for
the
localization
and
it
is.
The
thing
is
most
mostly:
we
use
mock-up
systems,
but,
as
ultra
white
bands
are
more
affordable
and
easy
to
use,
we
have
I
have
used
them
in
some
of
my
experiments
to
see
the
results
also,
but
for
the
other
systems
they
can
be
I
think
they
can
be
portable.
They
can
be
connected
to
the
different
robots
also.
A
A
B
A
It
is
open
source,
so
we
have
currently,
we
are
working
with
Ross
to
Galactic,
so
it's
easily
used
and
open
source
and
it
can
be
used
for
different
robots
and
it's
easy
to
use.
Also.
We
have
all
the
package
and
things
in
our
GitHub
repository
if
you
want,
for
example,
the
ones
that
they're
smart
contracts
and
applications
that
we
have
used
for
our
scenarios
are
I
can
send
you
later
in
the
GitHub,
so
it
can
be
used
and
compatible
to
other
robots,
and
you
can
you
can
easily
use
them.
Yeah.
D
I've
got
I've
got
a
I've,
got
a
few
comments
to
say
so,
thanks
Samo,
for
for
accepting
invitation
and
for
a
great
presentation.
You've
done
quite
a
good
bit
of
work
here
here
and
it's,
and
it
seems
that
you
haven't
really
stopped
at
trying
to
integrate
the
the
fabric
with
Ross
too.
So
you've
actually
done.
Some
analytics
work
on
on
kind
of
how
I
Pledge
Your
fabric
would
would
actually
work
in
these
environments.
D
So
one
one
of
them
particularly
was
interesting
to
me,
which
was
the
decision-making
contract
based
on
the
battery
level.
I
think
yeah
yeah.
You
can
go
back
to
that
to
the
slide,
because
so
some
of
your
smart
contracts
are
are
essentially
about
writing
kind
of
data
on
The
Ledger
right,
yes,
but
this
particular
one
was
about
actually
kind
of
making
a
decision.
D
So
one
thing
that
I
that
I'm
a
bit
confused
about
is
that
so
so
this
is
a
decision
making
that
is
supposed
to
be
taken
in
a
distributed
manner.
So
there
should
be
some
essentially
entities
that
don't
trust
each
other
right
and
now
they
want
to
make
this
decision
together
without
trusting
each
other.
So
can
you
just
elaborate
on
that
scenario
like
why?
Wouldn't
they
trust
each
other
and
what
are
these
parties.
D
A
Go
and
Teller
are
not
connected
to
each
other.
They
are
not
aware
of
each
other's
condition,
so
smart
contracts
only
checks
the
topics
that
is
getting
from
the
cello,
which
is
the
battery
and
whenever
it
gets
the
topic
that
the
battery
is
lower
than
a
specific,
it
just
published
the
topic,
so
the
Ross.
So
on
the
other
side
in
the
dash
code,
which
we
have
the
smart
contract,
also
when
it
gets
that
topic,
it's
go
to
that
task.
I
mean
goes
to
that
position,
so
basically
they
they
do
not.
D
D
D
A
Data
types,
yeah
trust
side
is
for
trusting
the
robots
because
you
know,
for
example,
we
are.
Our
scenario
was
using
them
in
the
warehouse
environment
if
another
robots
try
to
make
false
in
the
system
or
try
to,
for
example,
get
the
Drone
for
landing
or
do
some
falls
in
the
system.
That's
that
robot
cannot
see
any
topic
because
those
topics
are
going
through
the
blockchain,
so
it's
not
available
outside
that.
So
only
these
two
can
can
communicate
and
can
see
the
topics.
A
Another
thing
which
which
which
we
are
currently
using
also
is
that
there
is
another
thing
like
beside
was
to
sros,
has
been
developed
recently,
which
is
sexual
Ross
too.
With
that
case,
if
we
implemented
that
also
each
the
each
robot
would
have
some
keys
and
with
those
keys,
none
of
nothing
out
of
those
robots
would
see
those
topics.
So
basically
it's
like
that,
but
we
have
we
are
using
it.
D
Yeah,
okay,
so
now
so,
if
we
want
to
talk
about
the
kind
of
the
setup
of
fabric
that
you
have
right,
so
do
you
have
multiple
organizations?
Do
you
have
like
so
because
these
so
these
smart
contracts
are
essential?
Probably
you
don't
need
a
very
complicated
endorsement
policy
for
them
right
so
to
to
everyone
in
the
network,
have
to
endorse
these
smart
contracts
or.
A
D
C
D
D
You
know
collaborative
decision
making
kind
of
side
of
things
to
the
smart
contract,
because
then,
then
you
have
the
problem
of
trust
right.
So
because
now
you
have
external
sources
of
of
trust
and
and
how
do
you?
How
do
you
trust
people
coming
in
and
out?
I
know
that
you
you're
planning
to
use
Smart
contracts
for
identity
management
as
well,
but
what
I'm?
What
I'm
talking
about
here
is
more
or
more
from
the
view
of
more
complicated
decisions
that
have
to
be
taken
and
more
people
have
to
give
an
input.
D
A
C
A
A
D
D
It's
not
yeah
yeah
yeah,
so
I
mean
obviously
for
this
case.
This
is
a
good
analysis,
but
I
wonder
if
this
would
still
apply.
If
you
have
let's
say,
100
machines
that
are
quiet,
latency
sensitive,
so
you
want
to
process
their
transactions
very,
very
quickly,
sure
so
yeah.
What
I'm
saying
is
that
this
might
not
be
very
generalizable.
D
Of
kind
of
these
kind
of
analysis
on
on
whether,
if
my
fabric
network
is
going
to
kind
of
be
able
to
meet
the
the
latency
requirement,
that
I
have,
in
my
use,
cases
right,
which
is
telecom
use
cases
and
they're
very
latency
sensitive,
and
once
you
reach
kind
of
a
couple
of
hundred
transactions
per.
Second,
things
start
to
to
kind
of
change
quite
rapidly,
with
the
with
the
latency
and
CPU
usage,
and
so
on.
D
Yeah
yeah
and
there's
also
so
one
thing
is
actually
like.
Just
writing
things
on
the
blocks,
and
the
other
thing
is
that
if
you
half
like
a
kind
of
a
more
sophisticated
smart
contracts
that
are
making
a
decision
based
on
a
particular
algorithm,
then
if
you
have
to
wait
for
all
the
nodes
to
endorse
your
your
your
your
smart
contracts
outcome,
then
you
end
up
sometimes
waiting
for
quite
a
while
to
for
everyone
to
endorse
the
smart
content
and
so
on.
So
yeah
yeah,
like
lots
of
space
for
you
to
to
work
on.